CN106983558B - A kind of mechanical arm for urological surgery operation - Google Patents

Abstract

The invention provides a mechanical arm for urological surgery, which includes a base, a mechanical arm rotation mechanism, a rotary arm mechanism, a thick tube feeding mechanism, a thick tube rotating mechanism and a thin tube feeding mechanism, wherein the mechanical arm The rotating mechanism is fixed on the base, and it is provided with a rotating boss; the rotating arm mechanism includes a first rotating arm, a first motor, a second rotating arm and a second motor, wherein the rear end of the first rotating arm is hinged to the rotating boss , the hinged shaft is fixedly connected to the output shaft of the first motor; the rear end of the second rotating arm is hinged to the front end of the first rotating arm, and the hinged shaft is fixedly connected to the output shaft of the second motor; the front end of the second rotating arm is connected to the thick tube feeding mechanism Hinged; the thick tube feeding mechanism is connected to the thick tube rotating mechanism, and the thick tube rotating mechanism is connected to the thin tube feeding mechanism. The robotic arm for urological surgery can replace the surgeon's arm to operate surgical instruments by controlling various mechanisms to output predetermined movements, thereby reducing the doctor's labor intensity and helping to achieve precision and standardization of surgery.

Description

A robotic arm for urological operations

technical field

The invention relates to a surgical robot operating device, in particular to a mechanical arm for urological surgery.

Background technique

Urological diseases have become one of the most common diseases affecting human health in modern society. In the treatment of urological diseases, transurethral operations account for a large proportion, such as the treatment of benign prostatic hyperplasia (BPH), a common disease in men. BPH operation is one of the most common operations in urology. According to statistics, about 30-60% of the operations in urology in the country are benign prostatic hyperplasia operations. Prostate surgery is mainly minimally invasive, and transurethral resection of the prostate or laser vaporization is currently the most effective method for the treatment of BPH. At present, such operations mainly rely on doctors to perform operations manually.

Since the surgical tool usually needs to achieve more than five degrees of freedom during the BPH operation, the doctor's arm must frequently change the posture during the operation, so the operation requires high experience and technical requirements for the surgeon. In addition, due to the large volume of operations, doctors are prone to fatigue after long-term operations, making it difficult to guarantee the accuracy of operations, and manual operations are not conducive to standardization of operations and remote operations. On the other hand, although there are currently clinical surgical robots on the market, the existing surgical robots have comprehensive functions, complex structures, and high maintenance costs, resulting in high surgical costs and complicated operating procedures, which require special training before they can be operated. . It can be seen that the existing surgical robots are not very pertinent to urological surgery. It is necessary to develop a robot mechanism specially used for urological surgery to imitate the doctor's arm to perform various actions required by the surgical process.

Contents of the invention

The purpose of the present invention is to provide a mechanical arm for urological surgery, which can replace the surgeon's arm to operate surgical instruments by controlling each mechanism to output predetermined movements, thereby reducing the doctor's labor intensity and helping to achieve precise surgery. standardization.

The present invention is achieved through the following technical solutions:

A mechanical arm for urological operation, which includes a base, a mechanical arm rotation mechanism, a rotating arm mechanism, a thick tube feeding mechanism, a thick tube rotating mechanism and a thin tube feeding mechanism, wherein the mechanical arm rotating mechanism is fixed on On the base, a rotating boss is arranged on it; the rotating arm mechanism includes a first rotating arm, a first motor, a second rotating arm and a second motor, wherein the rear end of the first rotating arm connects with the rotating boss through the first hinge shaft Articulation, the first motor is used to drive the first arm; the rear end of the second arm is hinged to the front end of the first arm through the second hinge shaft, and the second motor is used to drive the second arm; the front end of the second arm is connected to the thick The tube feeding mechanism is hinged; the thick tube feeding mechanism is provided with a feeding part, and the thick tube rotating mechanism is fixed on the feeding part; the thick tube rotating mechanism is provided with a thick tube, and the thin tube feeding mechanism is fixed on the thick tube.

Preferably, the rear end of the first rotating arm is hinged to the rotating boss through a first hinge shaft, the first hinge shaft is fixedly connected to the output shaft of the first motor and the first rotating arm, and the first motor is fixed on the rotating boss The rear end of the second boom is hinged with the front end of the first boom through the second hinge shaft, and the second hinge shaft is fixedly connected with the output shaft of the second motor and the second boom, and the second motor is fixed on the first boom front end.

Preferably, the thick tube feeding mechanism includes a screw and nut mechanism, and the nut seat of the screw and nut mechanism is a feeding component.

Preferably, the rotating mechanism of the mechanical arm includes a rotating motor, a rotating boss, a rotating motor seat and a rotating bearing seat of the mechanical arm; wherein, the rotating motor seat and the rotating bearing seat of the mechanical arm are fixed on the base; the rotating motor is fixed on the rotating motor seat On the top, the rotating boss is installed on the bearing in the rotating bearing seat of the mechanical arm, and the rotating boss is connected with the output shaft of the rotating motor.

Further preferably, the mechanical arm rotation mechanism also includes a mechanical arm rotation coupling; the mechanical arm rotation coupling is located between the rotating motor seat and the mechanical arm rotating bearing seat, its rear end is connected to the output shaft of the rotating motor, and its front end is connected to the rotating shaft. The axis of the boss.

Further preferably, the base includes a base and a flat plate, and the flat plate is fixed on the upper end of the base; the rotating motor seat and the rotating bearing seat of the mechanical arm are fixed on the flat plate.

Further preferably, the base includes a horizontally arranged base plate and a vertical support arm, and the flat plate is arranged above the support arm.

Preferably, the thick pipe feeding mechanism includes a bottom plate, a thick pipe feeding motor, a screw, a nut seat, a guide rod, a thick pipe feeding motor seat and a thick pipe feeding bearing seat, wherein the rear end of the bottom plate is connected to the second The front ends of the two rotating arms are hinged; one end of the bottom plate is installed with a thick tube feed motor base, and the other end is installed with a thick tube feed bearing seat; the thick tube feed motor is installed on the thick tube feed motor base, and its output shaft passes through the thick tube. The feed motor seat is connected to one end of the lead screw; the other end of the lead screw is installed on the thick tube feed bearing seat; the guide rod is parallel to the lead screw, and its two ends are respectively fixed on the thick tube feed motor seat and the thick tube feed bearing The nut seat is sleeved on the lead screw to form a screw nut pair; the guide rod is installed in the nut seat; the nut seat can slide axially along the guide rod; the thick tube rotating mechanism is fixed on the nut seat.

Preferably, the thick tube rotating mechanism includes a first connecting plate, a thick tube rotating motor and a thick tube, wherein the first connecting plate is fixed on the feeding part of the thick tube feeding mechanism, and the thick tube rotating motor is arranged on its rear side, and its Thick tubes are provided on the front side.

Further preferably, the thick tube rotating mechanism further includes a second connecting plate and a flange, the second connecting plate is fixed on the feeding part of the thick tube feeding mechanism and is located in front of the first connecting plate; the flange is fixed on the second On the front side of the connecting plate; a shaft that can rotate relative to the flange is arranged in the flange; the front end of the shaft that can rotate relative to the flange is connected with the thick pipe, and the rear end is connected with the output shaft of the thick pipe rotating motor.

Further preferably, the thick tube rotation mechanism further includes a thick tube rotation coupling; the rear end of the thick tube rotation coupling is connected to the output shaft of the thick tube rotation motor, and the front end is connected to the rear end of a shaft that can rotate relative to the flange.

Preferably, the thin tube feeding mechanism includes a bushing, a bracket, a thin tube, a thin tube feeding motor, a slider, a connecting rod and a crank, wherein the bushing is fixed on the thick tube, and the bushing is provided with a bracket ; The fuselage of the thin tube feeding motor is fixed on the bracket; the thin tube is fixed on the slider and parallel to the thick tube. The slider is sleeved on the thick tube, one end of the connecting rod is hinged with the slider, the other end is hinged with one end of the crank, and the other end of the crank is hinged with the output shaft of the thin tube feed motor.

Preferably, the plane of rotation of the first pivoting arm is the same as the plane of rotation of the second pivoting arm.

Preferably, the axis of the thick tube intersects the axis of the second rotating arm at the hinge joint between the front end of the second rotating arm and the feeding mechanism for the thick pipe.

Preferably, the thick pipe is also provided with a wire inlet, which is used for the entry of surgical water pipes, video cables and the like.

Preferably, according to different requirements, a cutting electrode or a laser fiber is installed in the capillary; the connection between the cutting electrode or the laser fiber and the capillary is detachable.

Compared with the prior art, the present invention has the following beneficial technical effects:

In the mechanical arm used for urological operation provided by the present invention, the mechanical arm rotation mechanism provides the rotational degree of freedom of the mechanical arm, and the rotating arm mechanism provides the rotational degree of freedom of the first rotating arm and the rotating degree of the second rotating arm, The thick tube feeding mechanism provides the degree of freedom of thick tube feeding, the thick tube rotating mechanism provides the degree of freedom of thick tube rotation, and the thin tube feeding mechanism provides the degree of freedom of thin tube feeding. The robotic arm for urological surgery has six active degrees of freedom, which truly simulates all the actions of current doctors manually operating surgical tools; since it is exactly the same as the existing surgical operation, it can be seamlessly connected with manual operation. The operator's operating habits remain unchanged, making it easier to operate proficiently. The rotating mechanism of the mechanical arm enables the circumferential rotation of the mechanical arm, especially the design of the rotating boss, which makes the connection and rotation between the rotating mechanism of the mechanical arm and the rotating arm mechanism smoother and more stable. The rotating arm mechanism adopts a double rotating arm structure to effectively reduce the axial offset of the surgical tool during the pitch/yaw process. The robotic arm for urological surgery can replace the surgeon's arm to operate surgical instruments by controlling various mechanisms to output predetermined movements, thereby reducing the doctor's labor intensity and helping to achieve precision and standardization of surgery.

Not only that, the robotic arm used for urological surgery is not limited to a certain type of surgical instrument. According to actual needs, two surgical instruments, electric cutting electrode and laser optical fiber, can be replaced, which is more versatile; it can also be designed A suitable control system enables remote operation.

Furthermore, the arrangement of the rotating coupling of the mechanical arm makes the manufacturing of the rotating mechanism of the mechanical arm more convenient, the installation is simple and the movement is more stable, and the requirement for installation accuracy is reduced.

Furthermore, the setting of the flat plate makes the setting of the rotating motor seat and the rotating bearing seat of the mechanical arm easier and more stable.

Furthermore, the base includes a horizontal base plate and a vertical support arm. In this way, the base plate has a larger contact surface to ensure the stability of the entire mechanical arm. The support arm not only reduces the weight of the entire base, but also Space can be saved for the convenience of the mechanical arm.

Further, the thick tube feeding mechanism includes a screw nut mechanism, and the nut can only move axially along the guide rod through the guidance of the guide rod, and cannot rotate along the circumferential direction of the guide rod. The nut is used as a feeding mechanism, which can slide smoothly back and forth to ensure the smooth feeding of the thick tube.

Further, the second connecting plate cooperates with the first connecting plate to make the thick tube rotation mechanism more stable.

Furthermore, the arrangement of the thick tube rotating coupling makes the installation of the thick tube rotating mechanism more convenient, the operation is more stable, and the requirements for installation accuracy are reduced.

Furthermore, the setting of the slider crank mechanism can effectively control the feeding of the thin tube. On the one hand, the thin tube feeding mechanism is fixed on the thick tube, and it feeds with the feeding action of the thick tube feeding mechanism. At this time, the actions of the thick tube and the thin tube are synchronous; The feeding mechanism can independently control the feeding action of the thin tube, so that the action of the thin tube is independent of the thick tube.

Further, the rotation plane of the first rotating arm is the same as that of the second rotating arm. In this way, the control method of the rotating arm mechanism is simpler, and the first motor and the second motor can be in the same plane, avoiding the influence between the motor and the rotating arm.

Further, the axis of the thick pipe intersects the axis of the second rotating arm at the hinge joint between the front end of the second rotating arm and the feeding mechanism for the thick pipe. The first rotating arm and the second rotating arm keep the hinge point of the second rotating arm and the thick tube feeding mechanism always moving on the arc track with the support point of the human body as the center of the circle during the pitching/yawing process of the surgical tool. Axial offset interference at the tip during pitch/yaw is minimized.

Description of drawings

Fig. 1 is an overall assembly diagram of a mechanical arm used for urological operation described in the embodiment.

Fig. 2 is a partial structural schematic diagram of a mechanical arm used for urological surgery described in the embodiment, which shows a thick tube feeding mechanism, a thick tube rotating mechanism and a thin tube feeding mechanism.

Fig. 3 is a schematic diagram of a partial structure of a mechanical arm used in urological surgery described in the embodiment, which shows a thin tube feeding mechanism.

Fig. 4 is a mechanical schematic diagram of a mechanical arm used for urological operation described in the embodiment in a vertical plane.

Fig. 5 is a schematic diagram of a pitch/yaw motion process of a mechanical arm used in urological surgery described in the embodiment.

The label used in the accompanying drawings of the specification is explained as follows below:

1 is the base; 2 is the rotating motor; 3 is the rotating motor seat; 4 is the rotating coupling of the mechanical arm; 5 is the rotating bearing seat of the mechanical arm; 6 is the rotating boss; 7 is the first motor; 8 is the first rotating arm 9 is the second motor; 10 is the second arm; 11 is the thick tube feed motor; 12 is the thick tube feed motor seat; 13 is the nut seat; 14 is the leading screw; 15 is the bottom plate; 16 is the thick tube feed 17 is a guide rod; 18 is a thick tube rotating motor; 19 is a thick tube rotary coupling; 20 is a flange; 21 is a bushing; 22 is a bracket; 23 is a thick tube; 24 is a thin tube; 25 is a slide block; 26 is a connecting rod; 27 is a crank; 28 is a capillary feed motor.

Detailed ways

The present invention will be further described in detail below in conjunction with specific embodiments and FIGS. 1 to 5 , which are explanations rather than limitations of the present invention.

Referring to Fig. 1 and Fig. 2, a kind of mechanical arm used for urological operation operation, it comprises base 1, mechanical arm rotating mechanism, rotating arm mechanism, thick tube feeding mechanism, thick tube rotating mechanism and thin tube feeding mechanism, in,

The mechanical arm rotating mechanism is fixed on the base 1, which is provided with a rotating boss 6; the rear end of the rotating arm mechanism is connected with the rotating boss 6, and the front end of the rotating arm mechanism is connected with the thick pipe feeding mechanism; the thick pipe feeding mechanism is set There is a feeding part, and the thick tube rotating mechanism is fixed on the feeding part of the thick tube feeding mechanism; the thick tube rotating mechanism is provided with a thick tube 23, and the thin tube feeding mechanism is fixed on the thick tube 23 of the thick tube rotating mechanism.

Wherein, the base 1 includes a base and a flat plate, the base includes a horizontally arranged base plate and a vertical support arm, and the flat plate is arranged above the support arm.

Wherein, the rotating mechanism of the mechanical arm comprises a rotating motor 2, a rotating coupling 4 of the mechanical arm, a rotating boss 6, a rotating motor seat 3 and a rotating bearing seat 5 of the mechanical arm; the rotating motor seat 3 and the rotating bearing seat 5 of the mechanical arm are fixed On the flat plate, the rotating motor 2 is fixed on the rotating motor seat 3, and the rotating boss 6 is installed on the bearing in the mechanical arm rotating bearing seat 5; the mechanical arm rotating coupling 4 is located between the rotating motor seat 3 and the mechanical arm rotating bearing seat 5, its rear end is connected to the output shaft of the rotary motor 2, and the front end is connected to the shaft of the rotary boss 6.

Wherein, the pivoting arm mechanism comprises a first pivoting arm 8, a first motor 7, a second pivoting arm 10 and a second motor 9, wherein the rear end of the first pivoting arm 8 is fixed with a hinged shaft and is hinged with the rotary boss 6, The articulated shaft of the first pivoted arm 8 at the hinge is fixedly connected to the output shaft of the first motor 7; The hinge shaft of the arm 10 is fixedly connected with the output shaft of the second motor 9 ; the front end of the second rotating arm 10 is hinged with the bottom plate 15 . The plane of rotation of the first pivot arm 8 is the same as the plane of rotation of the second pivot arm 10 .

Wherein, the thick tube feeding mechanism includes a base plate 15, a thick tube feeding motor 11, a screw 14, a nut seat 13, a guide rod 17, a thick tube feeding motor seat 12 and a thick tube feeding bearing seat 16, wherein, The rear end of the base plate 15 is hinged with the front end of the second rotating arm 10; the base plate 15 is equipped with a thick tube feed motor seat 12, and the other end is equipped with a thick tube feed bearing seat 16; the thick tube feed motor 11 is installed on the thick tube On the feed motor base 12, its output shaft is connected to one end of the lead screw 14 through the thick tube feed motor base 12; the other end of the lead screw 14 is installed on the thick tube feed bearing seat 16; the guide rod 17 is parallel to the lead screw 14 , its two ends are respectively fixed on the thick pipe feed motor seat 12 and the thick pipe feed bearing seat 16; the nut seat 13 is sleeved on the lead screw 14 to form a lead screw nut pair; the guide rod 17 passes through the nut seat 13; The nut seat 13 can slide axially along the guide rod 17; the thick tube rotating mechanism is fixed on the nut seat 13.

Wherein, the thick tube rotating mechanism includes a first connecting plate, a second connecting plate, a thick tube rotating motor 18, a thick tube 23, a thick tube rotating coupling 19 and a flange 20; The 14 axis direction is provided with front and rear two connecting plates, namely the first connecting plate behind and the second connecting plate ahead; the thick tube rotary motor 18 is fixed on the rear side of the first connecting plate, The flange 20 is fixed, and a shaft that can rotate relative to the flange is arranged in the flange 20; the thick tube rotary coupling 19 is located between two connecting plates, and the rear end of the thick tube rotary coupling 19 is connected to the output of the thick tube rotary motor 18 The front end of the shaft is connected to the rear end of the shaft that can rotate relative to the flange, and the front end of the shaft that can rotate relative to the flange is connected to the thick pipe 23 . The axis of the thick tube 23 intersects the axis of the second rotating arm 10 at the hinge joint between the front end of the second rotating arm 10 and the bottom plate 15 .

Wherein, the thin tube feeding mechanism includes a bracket 22, a thin tube 24, a thin tube feeding motor 28, a slider 25, a connecting rod 26 and a crank 27; the end of the thick tube 23 near the flange 20 is covered with a bushing 21, a bracket 22 is fixed on the bushing 21; a slider 25 is set on the thick tube 23, and the thin tube 24 parallel to the axis of the thick tube 23 is installed on the front side of the slider 25, and the rear side is hinged with one end of the connecting rod 26, and is connected The other end of the rod 26 is hinged with one end of the crank 27 , the other end of the crank 27 is hinged with the output shaft of the capillary feeding motor 28 , and the fuselage of the capillary feeding motor 28 is fixed on the bracket 22 .

Referring to Fig. 4 and Fig. 5, the working principle of a mechanical arm for urological surgery described in the embodiment is as follows:

In the operation process, various pipelines such as water inlet and outlet pipes and video lines are housed in the thick pipe 23 . Electrocution electrodes or laser optical fibers are placed in the thin tube 24 . The thick tube 23 and the thin tube 24 are inserted into the urethra of the human body during the operation, and according to the needs of the operation, they can respectively perform feeding motions along their own axis directions. In addition, the ends of the thick tube 23 and the thin tube 24 also need to realize left and right yaw, up and down pitch, and rotate around the axis.

The overall feed movement of the thick tube 23 and the thin tube 24 is driven by the thick tube feed motor 11 . When the thick pipe feeding motor 11 rotates clockwise, the driving screw 14 rotates, pushing the nut seat 13 to move forward. Because the flange 20 is fixed on the side plate of the nut seat 13, the thick tube 23 is coaxially connected with the flange 20, and the thin tube 24 and its driving mechanism are all installed on the thick tube 23, so the drive of the nut seat 13 and the guide rod Under the guidance of 17, the thick tube 23 and the thin tube 24 move forward. Similarly, when the thick tube feeding motor 11 rotates counterclockwise, the screw 14 is driven to rotate, pushing the nut seat 13 to move backward. Because the flange 20 is fixed on the side plate of the nut seat 13, the thick tube 23 is coaxially connected with the flange 20, and the thin tube 24 and its driving mechanism are all installed on the thick tube 23, so the drive of the nut seat 13 and the guide rod Under the guidance of 17, the thick tube 23 and the thin tube 24 move backward. The forward and backward speeds of the thick tube 23 and the thin tube 24 during the overall feed movement can be controlled by adjusting the output speed of the thick tube feed motor 11 .

The individual feed movement of the capillary 24 is driven by a capillary feed motor 28 . Since the capillary feed motor 28, crank 27, connecting rod 26 and slide block 25 jointly constitute the crank slider mechanism, when the capillary feed motor 28 rotates, the crank 27 pushes the connecting rod 26 to transmit power to the slide block 25 Push the slide block 25 forward and backward, as shown in Figure 3. When the crank 27 and the axis of the connecting rod 26 are in a straight line and the included angle is 180 degrees, the slide block 25 advances to the maximum displacement, and the thin tube 24 fixed on it also advances to the maximum displacement. After the capillary feeding motor 28 rotates 180 degrees, when the axis of the crank 27 and the connecting rod 26 overlap to form a straight line with an included angle of 0 degree, the slide block 25 moves back to the maximum displacement, and the capillary 24 fixed on it also moves back to the maximum displacement. Repeatedly, the capillary feeding motor 28 rotates once to drive the capillary 24 to perform a forward and backward feeding motion cycle along the thick tube 23 axial direction. The forward and backward speed of the thin tube 24 in the individual feeding movement can be controlled by adjusting the output speed of the thin tube feeding motor 28 . Continuous automatic feeding can be realized by controlling the capillary feeding motor 28 to output a suitable rotating speed.

The pitching motion of the ends of the thick tube 23 and the thin tube 24 is realized by the coordinated motion of the rotary motor 2 , the first motor 7 and the second motor 9 . The rotating motor 2 drives the rotating boss 6 to rotate through the mechanical arm rotating coupling 4 so that the hinge axis of the rotating boss 6 and the first rotating arm 8 is in a horizontal position, because the first rotating arm 8 and the second rotating arm 10, the second rotating arm The hinge axis of the pivot arm 10 and the base plate 15 and the hinge axis of the rotating boss 6 and the first pivot arm 8 are parallel to each other, so the hinge axes of the first pivot arm 8 and the second pivot arm 10, the second pivot arm 10 and the base plate 15 Also in horizontal position. At this time, as shown in accompanying drawing 5, when the first motor 7 drives the first rotating arm 8 to rotate clockwise, the second motor 9 drives the second rotating arm 10 to follow the movement of the first rotating arm 8, so that the second rotating arm 10 Move upwards with base plate 15 hinge points. Since the part of the end of the thick tube 23 and the thin tube 24 extending into the human body bears the support and constraints of the human tissue, a sliding and rotating pair is formed, so that the second pivoting arm 10 and the hinge point of the base plate 15 move upwards so that the thick tube 23 and the bottom plate 15 move upward. The end of the thin tube 24 moves downward, thereby realizing the downward protruding of the thick tube 23 and the thin tube 24 . When the first motor 7 drives the first rotating arm 8 to rotate counterclockwise, the second motor 9 drives the second rotating arm 10 to follow the movement of the first rotating arm 8, so that the hinge point of the second rotating arm 10 and the bottom plate 15 moves downward. Because the part of the end of the thick tube 23 and the thin tube 24 extending into the human body bears the support and constraints of the human body tissue, a sliding rotation pair is formed, so that the second pivoting arm 10 and the base plate 15 hinge point move downward to make the thick tube 23 and the ends of the thin tube 24 move upwards, thereby realizing the lifting of the thick tube 23 and the thin tube 24.

Similarly, the lateral yaw movement of the ends of the thick tube 23 and the thin tube 24 is also realized by the coordinated movement of the rotating motor 2 , the first motor 7 and the second motor 9 . The rotating motor 2 drives the rotating boss 6 to rotate through the mechanical arm rotating coupling 4 so that the hinge axis of the rotating boss 6 and the first rotating arm 8 is vertical, because the first rotating arm 8 and the second rotating arm 10, the second rotating arm The hinge axis of the arm 10 and the base plate 15 and the hinge axis of the rotating boss 6 and the first arm 8 are parallel to each other, at this moment, the hinge axes of the first arm 8 and the second arm 10, the second arm 10 and the base plate 15 Also in vertical position. At this time, as shown in accompanying drawing 5, when the first motor 7 drives the first rotating arm 8 to rotate clockwise, the second motor 9 drives the second rotating arm 10 to follow the movement of the first rotating arm 8, so that the second rotating arm 10 Move to the right with base plate 15 hinge points. Because the part of the end of the thick tube 23 and the thin tube 24 extending into the human body bears the support and constraints of the human tissue, a sliding and rotating pair is formed, so that the second pivoting arm 10 and the base plate 15 hinge point move to the right to make the thick tube 23 and the end of the thin tube 24 moves to the left, thereby realizing the left deviation of the thick tube 23 and the thin tube 24. When the first motor 7 drives the first rotating arm 8 to rotate counterclockwise, the second motor 9 drives the second rotating arm 10 to follow the movement of the first rotating arm 8, so that the hinge point of the second rotating arm 10 and the bottom plate 15 moves to the left. Because the part of the end of the thick tube 23 and the thin tube 24 extending into the human body bears the support and constraints of the human tissue, a sliding rotation pair is formed, so that the second pivoting arm 10 and the hinge point of the base plate 15 move to the left so that the thick tube 23 And thin tube 24 end moves to the right, thereby realized the right deviation of thick tube 23 and thin tube 24.

During the operation, the pitch and yaw movement of the end of the surgical tool in any direction can be realized by controlling the rotating motor 2 to rotate at different angles.

As shown in accompanying drawing 5, by arranging the first rotating arm 8 and the second rotating arm 10, the hinge point of the second rotating arm 10 and the bottom plate 15 of the surgical tool is always kept at the center of the support point of the human body during the pitch/yaw process. The center of the circle moves on an arc track, which minimizes the axial offset interference of the end of the surgical tool during the pitch/yaw process. At the same time, in order to achieve this purpose, the axis of the first rotating arm 8 and the axis of the second rotating arm 10 should form a certain angle in the initial state.

The overall rotation of the thick tube 23 and the thin tube 24 around the axis of the thick tube 23 is driven by the thick tube rotating motor 18 . When the thick tube rotating motor 18 rotates clockwise, the shaft built in the flange 20 is driven to rotate clockwise by the thick tube rotating coupling 19 . Since one end of the thick tube 23 is connected to the shaft built in the flange 20, the thick tube 23 rotates clockwise around its own axis. Thin tube 24 and its driving mechanism are installed on the thick tube 23 by slide block 25, bushing 21 and bracket 22, so under the drive of thick tube rotating motor 18, thick tube 23 and thin tube 24 are integrally around the thick tube 23 axis. The hour hand rotates. When the thick tube rotating motor 18 rotates counterclockwise, the shaft built in the flange 20 is driven to rotate counterclockwise through the thick tube rotating coupling 19 . Since one end of the thick tube 23 is connected to the shaft built in the flange 20, the thick tube 23 rotates counterclockwise around its own axis. Thin tube 24 and its driving mechanism are installed on the thick tube 23 through slide block 25, bushing 21 and bracket 22, so under the drive of thick tube rotating motor 18, thick tube 23 and thin tube 24 are integrally rotated around the axis of thick tube 23. The hour hand rotates.

When the rotary motion of the surgical tool has higher requirements on the center of rotation, a round tube can be put on the outside of the thick tube 23 and the thin tube 24, so that the rotation axis of the thick tube rotating motor 18 coincides with the central axis of the round tube, and the operation can be realized. The tool as a whole rotates around its own axis.

Claims (7)

1. a kind of mechanical arm for urological surgery operation, which is characterized in that it includes pedestal (1), mechanical arm whirler Structure, whirling arm mechanism, extra heavy pipe feed mechanism, extra heavy pipe rotating mechanism and tubule feed mechanism；Mechanical arm rotating mechanism is fixed on pedestal (1) on, mechanical arm rotating mechanism is provided with rotation boss (6)；

Wherein, whirling arm mechanism includes the first pivoted arm (8), first motor (7), the second pivoted arm (10) and the second motor (9), and first turn Hingedly, first motor (7) is for driving the first pivoted arm (8) for arm (8) rear end and rotation boss (6)；Second pivoted arm (10) rear end with First pivoted arm (8) front end is hinged, and the second motor (9) is for driving the second pivoted arm (10)；Second pivoted arm (10) front end and extra heavy pipe into It is hinged to mechanism；

Extra heavy pipe feed mechanism is provided with infeed mean, and extra heavy pipe rotating mechanism is fixed on the infeed mean；Extra heavy pipe rotating mechanism is set It is equipped with extra heavy pipe (23), tubule feed mechanism is fixed on extra heavy pipe (23)；

Wherein, extra heavy pipe rotating mechanism includes the first connecting plate, extra heavy pipe rotating electric machine (18) and extra heavy pipe (23)；First connecting plate is fixed On the infeed mean of extra heavy pipe feed mechanism, extra heavy pipe rotating electric machine (18) are arranged in rear side, and extra heavy pipe (23) are arranged in front side, and second Connecting plate is fixed on the infeed mean of extra heavy pipe feed mechanism and is located in front of the first connecting plate, and flange (20) is fixed on the second company On fishplate bar leading flank, the axis that setting can be rotated relative to flange (20) in flange (20), the front end and extra heavy pipe (23) of the axis are even It connects, rear end and extra heavy pipe rotating electric machine (18) export axis connection；

Wherein, tubule feed mechanism includes bushing (21), tubule (24), tubule feeding motor (28), sliding block (25), connecting rod (26) With crank (27)；Wherein, bushing (21) is fixed on extra heavy pipe (23), and bracket (22) are arranged on bushing (21)；Tubule feeds motor (28) fuselage is fixed on bracket (22)；Tubule (24) is fixed on sliding block (25) and parallel with extra heavy pipe (23)；Sliding block (25) set It is located on extra heavy pipe (23), hingedly, the other end and crank (27) one end are hinged for connecting rod (26) one end and sliding block (25), and crank (27) is another One end and tubule feeding motor (28) output shaft are hinged.

2. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that the mechanical arm rotation Mechanism further includes that rotating electric machine (2), electric rotating base (3) and robot axis hold seat (5)；Wherein, electric rotating base (3) and Robot axis holds seat (5) and is fixed on pedestal (1)；Rotating electric machine (2) is fixed on electric rotating base (3), rotates boss (6) it is mounted on the bearing that robot axis is held in seat (5), rotation boss (6) and rotating electric machine (2) export axis connection.

3. the mechanical arm for urological surgery operation as claimed in claim 2, which is characterized in that the mechanical arm rotation Mechanism further includes mechanical arm rotation shaft coupling (4)；Mechanical arm rotation shaft coupling (4) is located at electric rotating base (3) and mechanical arm rotation Turn between bearing block (5), its rear end connects rotating electric machine (2) output shaft, the axis of front end connection rotation boss (6).

4. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that the extra heavy pipe feeds machine Structure includes bottom plate (15), extra heavy pipe feeding motor (11), lead screw (14) and guide rod (17)；

Wherein, one end of bottom plate (15) is equipped with extra heavy pipe feeding motor cabinet (12), and the other end is equipped with extra heavy pipe feeding bearing block (16)；Bottom plate (15) rear end and the second pivoted arm (10) front end are hinged；

Extra heavy pipe feeding motor (11) is installed in extra heavy pipe feeding motor cabinet (12), and output shaft feeds motor cabinet (12) by extra heavy pipe It is connect with lead screw (14) one end；The other end of lead screw (14) is mounted in extra heavy pipe feeding bearing block (16)；Guide rod (17) and lead screw (14) in parallel, guide rod (17) both ends are separately fixed in extra heavy pipe feeding motor cabinet (12) and extra heavy pipe feeding bearing block (16)；

It is arranged on lead screw (14) nut seat (13), nut seat (13) and lead screw (14) form screw pair；Guide rod (17) It is threaded through in nut seat (13)；Nut seat (13) can slide axially along guide rod (17)；Extra heavy pipe rotating mechanism is fixed on nut seat (13) on.

5. the mechanical arm for urological surgery operation as described in claim 1, which is characterized in that extra heavy pipe rotating mechanism is also Shaft coupling (19) are rotated including extra heavy pipe；Extra heavy pipe rotates shaft coupling (19) rear end and connects extra heavy pipe rotating electric machine (18) output shaft, front end It is connected to the rear end for the axis that can be rotated relative to flange (20).

6. the mechanical arm as claimed in any one of claims 1 to 5 for urological surgery operation, which is characterized in that first The Plane of rotation of pivoted arm (8) is identical as the Plane of rotation of the second pivoted arm (10).

7. the mechanical arm as claimed in any one of claims 1 to 5 for urological surgery operation, which is characterized in that extra heavy pipe (23) axis and the second pivoted arm (10) axis intersect at the second pivoted arm (10) front end and extra heavy pipe feed mechanism hinged place.